Merge branch 'humble' into mergify/bp/humble/pr-1852

ros-controls · Nov 5, 2024 · bd05a97 · bd05a97
2 parents fee70a4 + 4a3daec
commit bd05a97
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Showing 2 changed files with 7 additions and 3 deletions.
diff --git a/controller_manager/src/ros2_control_node.cpp b/controller_manager/src/ros2_control_node.cpp
@@ -53,6 +53,12 @@ int main(int argc, char ** argv)
       RCLCPP_WARN(
         cm->get_logger(), "Unable to set the CPU affinity : '%s'", affinity_result.second.c_str());
     }
+
+  const bool lock_memory = cm->get_parameter_or<bool>("lock_memory", true);
+  std::string message;
+  if (lock_memory && !realtime_tools::lock_memory(message))
+  {
+    RCLCPP_WARN(cm->get_logger(), "Unable to lock the memory : '%s'", message.c_str());
   }
 
   RCLCPP_INFO(cm->get_logger(), "update rate is %d Hz", cm->get_update_rate());

diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -17,9 +17,7 @@ controller_manager
 ******************
 
 * The ``ros2_control_node`` node now accepts the ``thread_priority`` parameter to set the scheduler priority of the controller_manager's RT thread (`#1820 <https://github.com/ros-controls/ros2_control/pull/1820>`_).
-<<<<<<< HEAD
 * Added support for the wildcard entries for the controller configuration files (`#1724 <https://github.com/ros-controls/ros2_control/pull/1724>`_).
-=======
 * The ``ros2_control_node`` node has a new ``lock_memory`` parameter to lock memory at startup to physical RAM in order to avoid page faults (`#1822 <https://github.com/ros-controls/ros2_control/pull/1822>`_).
 * The ``ros2_control_node`` node has a new ``cpu_affinity`` parameter to bind the process to a specific CPU core. By default, this is not enabled. (`#1852 <https://github.com/ros-controls/ros2_control/pull/1852>`_).
 
@@ -89,4 +87,4 @@ ros2controlcli
   .. code-block:: bash
 
     ros2 control <verb> <arguments> --ros-args -r __ns:=<namespace>
->>>>>>> 98f0795 ([ros2_control_node] Add option to set the CPU affinity  (#1852))
+